#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>



void PointsCallback(const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& points) {
    printf("size = %i, is_dense = %i\n", (int)points->size(), (int)points->is_dense);
}

int main(int argc, char** argv) {
    ros::init(argc, argv, "testconversion");
    ros::NodeHandle n;
    
    ros::Subscriber rfidSub = n.subscribe<pcl::PointCloud<pcl::PointXYZRGB> >("/camera/rgb/points", 100, PointsCallback);
    ros::Rate loop_rate(5);

    while(n.ok()){
        ros::spinOnce();    
        loop_rate.sleep();
    }
    return 0;
}
